Mobile robot controller using novel hybrid system

Hybrid neuro-fuzzy controller is one of the techniques that is used as a tool to control a mobile robot in unstructured environment. In this paper a novel neuro-fuzzy technique is proposed in order to tackle the problem of mobile robot autonomous navigation in unstructured environment. Obstacle avoidance is an important task in the field of robotics, since the goal of autonomous robot is to reach the destination without collision. The objective is to make the robot move along a collision free trajectory until it reaches its target. The proposed approach uses the artificial neural network instead of the fuzzified engine then the output from it is processed using adaptive inference engine and defuzzification engine. In this approach, the real processing time is reduce that is increase the mobile robot response. The proposed neuro-fuzzy controller is evaluated subjectively and objectively with other approaches and also the processing time is taken in consideration

A novel CAD system to automatically detect cancerous lung nodules using wavelet transform and SVM

A novel cancerous nodules detection algorithm for computed tomography images (CT-images) is presented in this paper. CT-images are large size images with high resolution. In some cases, number of cancerous lung nodule lesions may missed by the radiologist due to fatigue. A CAD system that is proposed in this paper can help the radiologist in detecting cancerous nodules in CT- images. The proposed algorithm is divided to four stages. In the first stage, an enhancement algorithm is implement to highlight the suspicious regions. Then in the second stage, the region of interest will be detected. The adaptive SVM and wavelet transform techniques are used to reduce the detected false positive regions. This algorithm is evaluated using 60 cases (normal and cancerous cases), and it shows a high sensitivity in detecting the cancerous lung nodules with TP ration 94.5% and with FP ratio 7 cluster/image

The directional hybrid measure of efficiency in data envelopment analysis

The efficiency measurement is a subject of great interest. The majority of studies on DEA models have been carried out using radial or non-radial approaches regarding the application of DEA for the efficiency measurement. This paper, based on the directional distance function, proposes a new generalized hybrid measure of efficiency under generalized returns to scale with the existence of both radial and non-radial inputs and outputs. It extends the hybrid measure of efficiency from Tone (2004) to a more general case. The proposed model is not only flexible enough for the decision-maker to adjust the radial and non-radial inputs and outputs to attain the efficiency score but also avoids the computational and interpretive difficulties, thereby giving rise to an important clarification and understanding of the generalized DEA model. Furthermore, several frequently-used DEA models (such as the CCR, BCC, ERM and SBM models) which depend on the radial or non-radial approaches are derived while their results were compared to the ones obtained from this hybrid model. The empirical examples emphasize the consequence of the proposed measure

Diversity and Conservation of Bats in Jordan

The diversity and the conservation status of bats in Jordan are discussed based on recent studies. The bat fauna of Jordan consists of 26 bat species belonging to nine families (Emballonuridae, Hipposideridae, Pteropodidae, Miniopteridae, Molossidae, Nycteridae, Rhinolophidae, Rhinopomatidae, and Vespertilionidae). Bat echolocation calls for some selected species are included. Conservation status based on regional assessment according to the IUCN standards is amended, along with the current legislative laws for the conservation of bats. Threats affecting the bats of Jordan are highlighted including the recent introduction of wind farms and other mining activities. In addition, the role of bats in disease transmission is included

Polyaniline nanofiber based surface acoustic wave gas sensors – effect of nanofiber diameter on H2 response

Kourosh and Kaner, Richard B. 2007, Polyaniline nanofiber based surface acoustic wave gas sensors – effect of nanofiber diameter on H2 response, IEEE sensors journal, vol. 7, no. 2, pp. 213-218. Available from Deakin Research Online

Human activity in covered urban space a case study of Petaling street, Kuala Lumpur, Malaysia

Streets are channels of movement and a symbolic representation of local tradition and culture. In South East Asian cities like Kuala Lumpur, Malaysia, they are avenues for socialization just as what plazas are in Europe. They are publicly acknowledged joints for entertainment of peer groups, family members, and guests alike. The physical quality of a street determines the human activities it could support. The changing identity of Petaling Street activity character with the introduction of a permanent cover for the traditional market altered its original activity pattern. It is therefore imperative to evaluate the impact of the new physical environment on human activities within it. The behavioural analysis of the covered street was conducted to appraise its ability to support or restrict human behaviour. User activities of the environment were observed systematically to establish behaviour pattern of the street. Behavioural mapping, behaviour categorisation and behaviour analysis were carried out to identify the functional characteristics associated with covered streets. The research findings show that there is a very strong functional characteristic of the covered street which is consistent with theories of environmental quality enhances human activity. They play a very important role in determining the user of the street, their activities and behavioural patterns. It also realized that the built environment could be to be manipulated to control human behaviour. The research identified that elements such as pedestrian comfort and adjacent land uses appear to influence the level of use within the pedestrian malls. This research will enhance the understanding of design decisions at different scales, such as the introduction of covered streets in Malaysian traditional markets like Petaling Street

Comparative study on the biological effect of Trigonella foenum graecum (Fenugreek) and Lupinus termis in diabetic albino rats

A number of herbs are traditionally used in Sudan to treat different diseases. In the present study the therapeutic effects of Trigonella foenum graecum (Fenugreek), and Lupinus termis aqueous extracts in glucose-induced diabetic albino rats and the subchronic toxicity of these plants was investigated. Forty-two albino rats of either sex (weighing 135-250 g and aged 60 days) were used. Animals were assigned to seven equal groups (N=6); intact control and six diabetic groups. Diabetes was induced by 5% glucose (2mg/kg b.w). Group (1) was administered with drinking water and assigned as control, groups 2, 3 and 4 were administered with Trigonella foenum aqueous extract (200, 400 and 800 mg/kg b.w, respectively) and groups 5, 6 and 7 were administered with Lupinus termis aqueous extract (200, 400 and 800 mg/kg b.w, respectively). Blood samples were obtained to assess blood glucose level, α-amylase, cholesterol, high-density lipoprotein (HDL) and triglycerides concentrations. In treated diabetic rats, blood glucose level markedly decreased to the normal range. Reduction in cholesterol, triglycerides, and HDL was also observed. Reduction of α-amylase concentration was shown with a low dose (200 mg/kg b.w.) of the extracts of both plants. The present studied plants clearly demonstrate the non-toxic nature and safety profile. The combined history human use of these plants and the data from the current study support the safe use of these plants. It can be concluded that Trigonella foenum graecum seed and Lupinus termis fruit aqueous extract have anti-hyperglycemic effect by affecting both blood glucose level and α-amylase. Trigonella foenum graecum has higher hypoglycemic than Lupinus termis

Psychometric properties of LUN-MS: a new questionnaire to identify the unmet needs of people with multiple sclerosis

Background: We developed a 29-item Questionnaire, Long-term Unmet Needs in MS (LUN-MS) to identify the unmet needs of people with multiple sclerosis (pwMS). Objective: To assess acceptability, test-retest reliability, internal consistency, and validity of the LUN-MS. Methods: Participants completed the LUN-MS and MSIS-29 twice, four weeks apart. Acceptability was assessed by looking at the response rate in each time point. Reliability was calculated by comparing the response during the two time points using Cohen’s weighted kappa. Using principal component analysis, the dimensionality of the questionnaire’s items was reduced, to five domains and the internal consistency of each domain was assessed using Cronbach’s alpha. Concurrent validity was tested by comparing the total LUN-MS score against MSIS-29 and EQ-5D-3L using Pearson’s product-moment correlation coefficient. Results: Among 88 participants, rate of completion at time points-1 and 2 was 96 and 80% respectively. Test-retest reliability for individual items was between fair to near-perfect (weighted Cohen’s kappa 0.39-0.81). The unmet needs could be divided into five internally consistent domains (Cronbach’s alpha 0.83-0.74): neuropsychological, ambulation, physical, interpersonal relationship and informational. Concurrent validity with MSIS-29 (r = 0.705, P < .001) and EQ-5D-3L (r = 0.617, P < .001) were good. Conclusion: LUN-MS is a reliable, valid, and acceptable tool to identify the unmet needs of pwMS

Observation of the Ankle and Evidence for a High-Energy Break in the Cosmic Ray Spectrum

We have measured the cosmic ray spectrum at energies above $10^{17}$ eV using the two air fluorescence detectors of the High Resolution Fly's Eye experiment operating in monocular mode. We describe the detector, PMT and atmospheric calibrations, and the analysis techniques for the two detectors. We fit the spectrum to models describing galactic and extragalactic sources. Our measured spectrum gives an observation of a feature known as the ``ankle'' near $3\times 10^{18}$ eV, and strong evidence for a suppression near $6\times 10^{19}$ eV.Comment: 14 pages, 9 figures. To appear in Physics Letters B. Accepted versio

Corporate Social Responsibility and Islamic Financial Institutions (IFIs): Management Perceptions from IFIs in Bahrain

Islamic finance is gaining greater attention in the finance industry, and this paper analyses how Islamic financial institutions (IFIs) are responding to the welfare needs of society. Using interview data with managers and content analysis of the disclosures, this study attempts to understand management perceptions of corporate social responsibility (CSR) in IFIs. A thorough understanding of CSR by managers, as evident in the interviews, has not been translated fully into practice. The partial use of IFIs’ potential role in social welfare would add further challenges in the era of financialisation